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CISE Postdoctoral Program: Robust Haptic Display of Dynamical Virtual Environments

CISE博士后项目：动态虚拟环境的鲁棒触觉显示

基本信息

批准号：
9625756
负责人：
James Colgate
金额：
$ 4.62万
依托单位：
Northwestern University
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
1996
资助国家：
美国
起止时间：
1996-03-15 至 1998-02-28
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=9625756&HistoricalAwards=false
关键词：
CISE Postdoctoral Program Robust Haptic

项目摘要

9625756 Colgate, James E. Northwestern University CISE Postdoctoral Program: Robust Haptic Display of Dynamical Virtual Environments This award supports associate Brent R. Gillespie. To provide for direct interaction and to more effectively immerse their users, the designers of virtual environments now have the option to render objects for the haptic (touch) senses, thanks to the new and flourishing field of haptic interface technology. At present, however, the fidelity of haptic display is limited. Restrictions must be placed on the mechanical impedance of the virtual object or exceptional computational power must be demanded of the interface controller lest sustained or even unstable vibrations arise between user and virtual object. This postdoctoral research aims to remove these obstacles by developing simulation and control methods which guarantee the absence of unstable vibrations and other non-physical interactive behaviors. The research begins by noting that the destabilizing effects of sampled-data and computational delays can be fully compensated out if the entire coupled dynamical system is modeled, including the human limb. On-line system identification of the coupled human limb is integrated into the controller design to allow for active behavior on the part of the human. Concurrent theoretical treatments and hardware/software development efforts are employed to extend the methods to dynamical objects and objects which are subject to changes in kinematic constraint. ***

9625756美国西北大学高露洁分校博士后项目：动态虚拟环境的强健触觉显示该奖项支持副研究员布伦特·R·吉莱斯皮。由于触觉界面技术的蓬勃发展，为了提供直接交互并更有效地让用户沉浸在其中，虚拟环境的设计者现在可以选择渲染触觉(触觉)感官对象。然而，目前触觉显示的保真度有限。必须对虚拟对象的机械阻抗施加限制，或者必须对接口控制器要求特殊的计算能力，以免在用户和虚拟对象之间产生持续的甚至不稳定的振动。这项博士后研究旨在通过开发模拟和控制方法来消除这些障碍，这些方法保证不会出现不稳定的振动和其他非物理交互行为。这项研究首先指出，如果对包括人体肢体在内的整个耦合动力系统进行建模，则采样数据和计算延迟的不稳定影响可以完全补偿。耦合的人体肢体的在线系统识别被集成到控制器设计中，以允许人类部分的主动行为。采用并行的理论处理和硬件/软件开发工作，将方法扩展到动态对象和受运动约束变化影响的对象。***